Page 319 - Robot Design Handbook ROBOCON Malaysia 2019
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2.1 Mechanical Design
2.1.1 Messenger Robot 1 (MR1)
The MR1 was designed for transportation, loading and launching. The robot is
assembled using aluminium square that was connected using brackets and rivets.
Aluminium based material was chosen for current design because of the structure for
loading condition and easy to fabricate. The design uses sets of motor and omni-wheels with
pneumatic system to complete heavy task. It has four DC motors attached to the omni-wheel
for left-right and forward-backward movements. The uniqueness of the MR1 is that it has
two sets of sprocket to help the lifting force of the Shagai. In addition, the design of the
MR1 consists of five degree of freedom. The maximum weight for the MR1 is
approximately 18 kg with the dimension of the main body was measured at 550 mm x 528
mm.
The end effector for grip mechanism for the Gerege was done using a gripper
connected with servo motor. Based on finite element analysis, the MR1 can support the
weight more than 5 kg. Pneumatic sliding shot mechanism is used to throw the Shagai into
the target area with the help of pneumatic piston and mini compressor. For this purpose, 1.5
L bottles was used as air tank.
2.1.2 Messenger Robot 2 (MR2)
The MR2 acts as a travelling robot that is able to face obstacles on the track and
climb the hill of the platform. The idea of this robot was inspired from the movement of a
walking cat. For the current design, the MR2 uses four legs to maintain the stability of its
movement. Each leg has specific coding to produce simultaneous motion. This design helps
improve the MR2 speed, loading and safety of the robot. The MR2 works with 16 degrees
of freedom (DOF).
The mechanism of the Gerege holder is like a storage box. This is to ease and shorten
the time taken for the passing process of the Gerege from the MR1 to the MR2. From the
finite element analysis, the design for the MR2 records minimum and maximum safety
factor of 15 with an applied load of 2 kg.
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